• International Journal of Naval Architecture and Ocean Engineering
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• v.10 no.3
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• pp.282-293
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• 2018

This paper attempts to address the motion parameter skip problem associated with three-dimensional trajectory tracking of an underactuated Autonomous Underwater Vehicle (AUV) using backstepping-based control, due to the unsmoothness of tracking trajectory. Through kinematics concepts, a three-dimensional dynamic velocity regulation controller is derived. This controller makes use of the surge and angular velocity errors with bio-inspired models and backstepping techniques. It overcomes the frequently occurring problem of parameter skip at inflection point existing in backstepping tracking control method and increases system robustness. Moreover, the proposed method can effectively avoid the singularity problem in backstepping control of virtual velocity error. The control system is proved to be uniformly ultimately bounded using Lyapunov stability theory. Simulation results illustrate the effectiveness and efficiency of the developed controller, which can realize accurate three-dimensional trajectory tracking for an underactuated AUV with constant external disturbances.

• Journal of Mechanical Science and Technology
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• v.16 no.6
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• pp.745-756
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• 2002

The re-entry problem consists of guidance design and trajectory control. This paper summarizes the detailed relationships between the velocity, drag acceleration and altitude in determining reference trajectories. The computational issues are also addressed, and the performance of the proposed simple nonlinear control of a bank angle for the longitudinal/ lateral trajectory is demonstrated. In particular, the fixed bank angle methods that can reduce the drag acceleration errors at low-speeds are proposed. The importance of bank reversals with respect to the azimuth errors Is also elucidated.

• Journal of the Korean Association of Geographic Information Studies
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• v.9 no.2
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• pp.30-41
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• 2006

This paper proposes an e-logistics system supporting efficient vehicle moving trajectory management. Recent advances in wireless communications have given rise to a number of location-based services including logistics vehicle tracking, cellular phone user's location finding, and location-based commerce. Logistics systems typically entail tracking vehicles for purposes of the logistics center knowing the whereabouts of the vehicles and/or consignments. Moreover, storing and managing location trajectory of continuously moving vehicles and consignments is necessary for supporting efficient logistics plan and consignment. The proposed system is able to manage spatial objects in GIS as well as logistic information in the mobile environment. And for the efficiently managing and retrieving of transporting trajectory of logistics, we extend previous moving object indexing method, TB-Tree, to use multi-version framework and evaluate data updating performance. It is able to apply the proposed method to develop mobile contents services based on continuously changing location of moving object in the mobile environment.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.38 no.6
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• pp.648-656
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• 2001

In this paper, we propose a new feature-based vehicle tracking system using trajectory matching for intelligent traffic surveillance. The proposed system consists of three parts: feature extraction, feature tracking, and feature grouping using trajectory matching. For feature extraction and feature tracking, features of vehicles are selected based on the measure of cornerness and are tracked using linear Kalman filtering. We then group features from the same vehicle in the grouping step. We suggest a new grouping algorithm using the spatial information of features and trajectory matching to solve the over-grouping Problems of the feature-based tracking method. Finally, our proposed tracking system demonstrates good performance for typical traffic scenes with partial occlusion and neighboring conditions.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.34 no.10
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• pp.1359-1366
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• 2010

Recently, many electronic control techniques for vehicles have been developed and applied. One of the technologies can be X-by-wire such as throttle-by-wire, brake-by-wire, steer-by-wire, and etc, in which most of mechanical parts are replaced into electrical wire and actuators. In this study, the effect of throttle-by-wire and brake-by-wire control systems on vehicle velocity control, especially in a school zone, are taken into consideration. The number of accidents reported in school zones is higher than that in other places. The reason for this is that many vehicle drivers do not obey speed limit regulations. Moreover, some of the students are careless while crossing the streets. Therefore, in this study, we attempt to develop a method using throttle-by-wire and brake-by-wire control systems for automatically reducing the vehicle speed such that it will be within the speed limit. First, an engine model and a transmission system model are developed for a specific vehicle model. Second, speed reduction is carried out such that the reduction follows a pre-designed cubic spline trajectory; the trajectory is determined such that rapid deceleration, which causes discomfort to the driver and passengers, can be prevented, for which a fuzzy-PID control algorithm is applied for the trajectory following control. Finally, simulation results are presented to verify the performance of the proposed speed reduction control system.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.3
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• pp.233-240
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• 2016

This paper describes a three-dimensional reference trajectory generation method for giving commands to an unmanned air vehicle (UAV). The trajectory is a set of consecutive curves with constant acceleration during each interval and passing through via-points at specified times or speeds. The functional inputs are three-dimensional positions and times (or speeds) at via-points, and velocities at both boundaries. Its output is the time series of position values satisfying the piecewise constant acceleration condition. To be specific, the shape of the trajectory, known as the path, is first represented by splines using third degree polynomials. A numeric algorithm is then suggested, which can overcome the demerits of cubic spline method and promptly generate a piecewise constant acceleration trajectory from the given path. To show the effectiveness of the present scheme, trajectory generation cases were treated, and their speed calculation errors were evaluated.

• Journal of Korean Society for Geospatial Information Science
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• v.25 no.2
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• pp.21-29
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• 2017

For the efficient and stable operation of autonomous vehicles or advanced driver assistance systems being actively studied nowadays, it is important to determine the positions of the vehicle accurately and economically. A satellite based navigation system is mainly used for positioning, but it has a limitation in signal blockage areas. To overcome this limitation, sensor fusion methods including additional sensors such as an inertial navigation system have been mainly proposed but the high sensor cost has been a problem. In this work, we develop a vehicle position estimation algorithm using in-vehicle sensors and a low-cost imaging sensor without any expensive additional sensor. We determine the vehicle positions using the velocity and yaw-rate of a car from the in-vehicle sensors and the position and attitude of the camera based on the single photo resection process. For the evaluation, we built a prototype system, acquired test data using the system, and estimated the trajectory. The proposed algorithm shows the accuracy of about 40% higher than an in-vehicle sensor only method.

• Journal of the Korean Society of Propulsion Engineers
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• v.19 no.6
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• pp.10-18
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• 2015

Performance requirement analysis and weight estimation of a reusable launch vehicle with a rocket-based air-breathing engine(RBCC : Rocket Based Combined Cycle) were performed. Performance model for an RBCC engine was developed and integrated with flight trajectory model. The integrated engine-trajectory model was validated by comparing the results with those from previous research reference. Based on the new engine-trajectory model and previous research results, engine performance requirements were derived for an reusable launching vehicle with gross take-off weight of 15 tones. Dependence of the propellant amount requirement on the mode transition Mach number of the engine was also analyzed.

• Journal of Korean Society of Transportation
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• v.26 no.5
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• pp.51-62
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• 2008

An innovative feature of this study is to propose a methodology for evaluating safety performance in real time based on vehicle trajectory data extracted from video images. The essence of evaluating safety performance is to capture unsafe car-following and lane-changing events generated by individual vehicles traveling within video surveillance area. The proposed methodology derived three indices including real-time safety index(RSI) based on the concept of safe stopping distance, time-to-collision(TTC), and the collision energy based on the conservation of momentum. It is believed that outcomes would be greatly utilized in developing a new generation of video images processing(VIP) based traffic detection systems capable of producing safety performance measurements. Relevant technical challenges for such detection systems are also discussed.

• Journal of Korean Society of Transportation
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• v.25 no.5
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• pp.173-182
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• 2007

An innovative feature of this study is to propose a methodology for evaluating safety performance in real time based on vehicle trajectory data extracted from video images. The essence of evaluating safety performance is to capture unsafe car-following events between individual vehicles traveling surveillance area. The proposed methodology applied two indices including real-time safety index (RSI) based on the concept of safe stopping distance and time-to-collision (TTC) to the evaluation of safety performance. It is believed that outcomes would be greatly utilized in developing a new generation of video images processing (VIP) based traffic detection systems capable of producing safety performance measurements. Relevant technical challenges for such detection systems are also discussed.